{"id":"https://openalex.org/W4383109086","doi":"https://doi.org/10.1109/icra48891.2023.10161358","title":"A Soft Hybrid-Actuated Continuum Robot Based on Dual Origami Structures","display_name":"A Soft Hybrid-Actuated Continuum Robot Based on Dual Origami Structures","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383109086","doi":"https://doi.org/10.1109/icra48891.2023.10161358"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10161358","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161358","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102548485","display_name":"Jian Tao","orcid":"https://orcid.org/0000-0002-5321-3806"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jian Tao","raw_affiliation_strings":["The School of Engineering Science, University of Science and Technology of China,CAS Key Laboratory of Mechanical Behavior and Design of Materials,Hefei,China,230026"],"affiliations":[{"raw_affiliation_string":"The School of Engineering Science, University of Science and Technology of China,CAS Key Laboratory of Mechanical Behavior and Design of Materials,Hefei,China,230026","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039342144","display_name":"Qiqiang Hu","orcid":"https://orcid.org/0000-0003-0073-5376"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Qiqiang Hu","raw_affiliation_strings":["City University of Hong Kong, Kowloon,Department of Biomedical Engineering,Hong Kong,China","Department of Biomedical Engineering, City University of Hong Kong, Kowloon, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"City University of Hong Kong, Kowloon,Department of Biomedical Engineering,Hong Kong,China","institution_ids":["https://openalex.org/I168719708"]},{"raw_affiliation_string":"Department of Biomedical Engineering, City University of Hong Kong, Kowloon, Hong Kong, China","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073417018","display_name":"Tianzhi Luo","orcid":"https://orcid.org/0000-0003-2637-9605"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianzhi Luo","raw_affiliation_strings":["The School of Engineering Science, University of Science and Technology of China,CAS Key Laboratory of Mechanical Behavior and Design of Materials,Hefei,China,230026"],"affiliations":[{"raw_affiliation_string":"The School of Engineering Science, University of Science and Technology of China,CAS Key Laboratory of Mechanical Behavior and Design of Materials,Hefei,China,230026","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091526893","display_name":"Erbao Dong","orcid":"https://orcid.org/0000-0002-4062-9730"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Erbao Dong","raw_affiliation_strings":["The School of Engineering Science, University of Science and Technology of China,CAS Key Laboratory of Mechanical Behavior and Design of Materials,Hefei,China,230026"],"affiliations":[{"raw_affiliation_string":"The School of Engineering Science, University of Science and Technology of China,CAS Key Laboratory of Mechanical Behavior and Design of Materials,Hefei,China,230026","institution_ids":["https://openalex.org/I126520041"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5102548485"],"corresponding_institution_ids":["https://openalex.org/I126520041"],"apc_list":null,"apc_paid":null,"fwci":0.4381,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.57135988,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"524","last_page":"529"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9872999787330627,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":0.9760000109672546,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.736348569393158},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6706392765045166},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6291911602020264},{"id":"https://openalex.org/keywords/bending-stiffness","display_name":"Bending stiffness","score":0.6143578290939331},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.5931182503700256},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.5519621968269348},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.4736151397228241},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.468850702047348},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.40159523487091064},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3802131414413452},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.35979199409484863},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3231067955493927},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14590805768966675},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.09107604622840881}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.736348569393158},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6706392765045166},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6291911602020264},{"id":"https://openalex.org/C128172907","wikidata":"https://www.wikidata.org/wiki/Q4887116","display_name":"Bending stiffness","level":3,"score":0.6143578290939331},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.5931182503700256},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.5519621968269348},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.4736151397228241},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.468850702047348},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.40159523487091064},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3802131414413452},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.35979199409484863},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3231067955493927},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14590805768966675},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.09107604622840881},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10161358","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161358","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6961900018","display_name":null,"funder_award_id":"61773358","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1943821940","https://openalex.org/W1966705057","https://openalex.org/W2041186773","https://openalex.org/W2060137931","https://openalex.org/W2098118071","https://openalex.org/W2106477397","https://openalex.org/W2518073382","https://openalex.org/W2626557286","https://openalex.org/W2727773934","https://openalex.org/W2752818262","https://openalex.org/W2761645513","https://openalex.org/W2770433206","https://openalex.org/W2772066556","https://openalex.org/W2794141247","https://openalex.org/W2802914183","https://openalex.org/W2991460789","https://openalex.org/W3016542991","https://openalex.org/W3045785884","https://openalex.org/W3090462370","https://openalex.org/W3125605919","https://openalex.org/W3128066131","https://openalex.org/W3182117585","https://openalex.org/W4220954384"],"related_works":["https://openalex.org/W2356120996","https://openalex.org/W3028163505","https://openalex.org/W2191403106","https://openalex.org/W2089273937","https://openalex.org/W4285470395","https://openalex.org/W1821679985","https://openalex.org/W4382046882","https://openalex.org/W4296449477","https://openalex.org/W2526555730","https://openalex.org/W4390617831"],"abstract_inverted_index":{"Soft":[0],"continuum":[1,38],"robots":[2],"have":[3],"shown":[4],"tremendous":[5],"potential":[6],"for":[7],"medical":[8],"and":[9,16,22,25,44,74,96,111,125,146],"industrial":[10],"applications":[11],"owing":[12],"to":[13,40,93,138],"their":[14,20],"flexibility":[15],"continuous":[17],"deformability.":[18],"However,":[19],"telescopic":[21,43],"bending":[23,45,128,141],"capabilities":[24,46],"variable":[26],"stiffness":[27,49,97,137],"are":[28],"still":[29],"limited.":[30],"This":[31],"study":[32],"proposes":[33],"a":[34,90,126],"novel":[35],"origami-inspired":[36],"soft":[37,58,103],"robot":[39,59,104,113,119,133],"possess":[41],"large":[42],"while":[47],"improving":[48],"based":[50,108],"on":[51,109],"the":[52,75,87,102,118,140],"principle":[53],"of":[54,61,89,101,130],"antagonistic":[55],"actuation.":[56],"The":[57,65,83,99,132],"consists":[60],"dual":[62],"origami":[63],"structures.":[64],"inner":[66],"forms":[67],"an":[68,121],"air":[69],"chamber":[70],"actuated":[71],"by":[72,79,144],"pneumatics,":[73],"outer":[76],"is":[77,105],"controlled":[78],"nine":[80],"tendon-driven":[81],"actuators.":[82],"proposed":[84],"design":[85],"uses":[86],"advantages":[88],"hybrid":[91],"actuation":[92],"achieve":[94],"motion":[95],"control.":[98],"performance":[100],"studied":[106],"experimentally":[107],"single":[110],"three":[112],"modules.":[114],"Results":[115],"show":[116],"that":[117],"has":[120],"excellent":[122],"stretch":[123],"ratio":[124],"maximum":[127],"angle":[129],"180\u00b0.":[131],"can":[134],"also":[135],"increase":[136],"resist":[139],"deformation":[142],"induced":[143],"self-weight":[145],"loads.":[147]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2025-10-10T00:00:00"}